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Chapter and Conference Paper
Scaling Simulation-to-Real Transfer by Learning Composable Robot Skills
We present a novel solution to the problem of simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than focusing on minimizing the simulation-reality gap, we learn ...
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Chapter and Conference Paper
Confidence-Rich Grid Map**
Occupancy grids are a common framework in robotics for creating a spatial map of the environment. Traditional grid map** algorithms assume that map voxel occupancies are independent of each other. In additio...
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Chapter and Conference Paper
Generalizing Regras** with Supervised Policy Learning
We present a method for learning a general regras** behavior by using supervised policy learning. First, we use reinforcement learning to learn linear regras** policies, with a small number of parameters, ...
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Chapter
Cooperative Control for Target Tracking with Onboard Sensing
We consider the cooperative control of a team of robots to estimate the position of a moving target using onboard sensing. In particular, we do not assume that the robot positions are known, but estimate their...
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Chapter
Interactive Segmentation of Textured and Textureless Objects
This article describes interactive object segmentation for autonomous service robots acting in human living environments. The proposed system allows a robot to effectively segment textured and textureless obje...
